/PROG  T1D_T2P
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "T1 DP -> T2 PK";
PROG_SIZE	= 2058;
CREATE		= DATE 12-05-30  TIME 15:27:44;
MODIFIED	= DATE 24-11-26  TIME 17:31:28;
FILE_NAME	= T1D_T2P;
VERSION		= 0;
LINE_COUNT	= 48;
MEMORY_SIZE	= 2498;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  IF DI[14]=ON OR DI[26]=OFF,JMP LBL[90] ;
   6:   ;
   7:J P[1:CLEAR] 30% CNT50    ;
   8:L P[2:APPROACH] 100mm/sec CNT50 ACC70    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:L P[5:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=ON    ;
  12:  DO[13]=OFF ;
  13:  DO[14]=ON ;
  14:  WAIT DI[14]=ON    ;
  15:  WAIT   2.00(sec) ;
  16:  DO[14]=OFF ;
  17:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=OFF    ;
  18:L P[7:APPROACH] 300mm/sec CNT50    ;
  19:  WAIT DI[25]=ON    ;
  20:L P[2:APPROACH] 300mm/sec CNT50    ;
  21:L P[1:CLEAR] 200mm/sec CNT50 ACC70    ;
  22:   ;
  23:J P[8:CLEAR] 30% CNT100    ;
  24:J P[9:CLEAR] 30% CNT50    ;
  25:L P[10:APPROACH] 200mm/sec CNT50 ACC70    ;
  26:L P[11:APPROACH] 300mm/sec CNT50    ;
  27:L P[12:APPROACH] 300mm/sec FINE    ;
  28:  DO[13]=OFF ;
  29:  DO[14]=ON ;
  30:  WAIT DI[14]=ON    ;
  31:  WAIT    .50(sec) ;
  32:L P[13:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  33:  WAIT   1.00(sec) ;
  34:  DO[14]=OFF ;
  35:  DO[13]=ON ;
  36:  WAIT DI[13]=ON    ;
  37:  WAIT   1.00(sec) ;
  38:L P[14:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=OFF    ;
  39:L P[15:APPROACH] 300mm/sec CNT50    ;
  40:  WAIT DI[26]=OFF    ;
  41:L P[16:APPROACH] 300mm/sec CNT50    ;
  42:L P[9:CLEAR] 200mm/sec CNT50 ACC70    ;
  43:   ;
  44:  MOVE TO HOME    ;
  45:  END ;
  46:   ;
  47:  LBL[90] ;
  48:  MESSAGE[ERROR: T2 DETECT OR NOT] ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.664  mm,	Y =   759.296  mm,	Z =  -600.000  mm,
	W =  -179.998 deg,	P =     -.000 deg,	R =    89.999 deg,
	E1=    16.095 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.842  mm,	Y =   694.215  mm,	Z = -1021.000  mm,
	W =  -179.999 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    16.095 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.839  mm,	Y =   694.215  mm,	Z = -1348.839  mm,
	W =  -179.999 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    16.095 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.975  mm,	Y =   498.556  mm,	Z = -1319.351  mm,
	W =   165.153 deg,	P =    88.868 deg,	R =    74.830 deg,
	E1=    15.677 deg
};
P[5:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.976  mm,	Y =   498.557  mm,	Z = -1421.589  mm,
	W =   165.152 deg,	P =    88.868 deg,	R =    74.828 deg,
	E1=    15.677 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3231.115  mm,	Y =   626.951  mm,	Z = -1416.548  mm,
	W =    84.848 deg,	P =    89.712 deg,	R =    -5.151 deg,
	E1=    15.750 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.582  mm,	Y =   700.697  mm,	Z = -1256.696  mm,
	W =  -179.670 deg,	P =    89.667 deg,	R =    90.330 deg,
	E1=    16.095 deg
};
P[8:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2128.861  mm,	Y =      .056  mm,	Z =  -533.913  mm,
	W =   179.999 deg,	P =     -.001 deg,	R =  -179.998 deg,
	E1=   107.700 deg
};
P[9:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3017.729  mm,	Y =  -851.419  mm,	Z =  -600.010  mm,
	W =   180.000 deg,	P =      .002 deg,	R =   -90.000 deg,
	E1=    16.095 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.821  mm,	Y =  -694.238  mm,	Z =  -900.000  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    16.095 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3229.784  mm,	Y =  -683.793  mm,	Z = -1274.162  mm,
	W =   179.457 deg,	P =    89.583 deg,	R =   -90.544 deg,
	E1=    16.095 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3228.188  mm,	Y =  -624.590  mm,	Z = -1413.966  mm,
	W =   179.200 deg,	P =    89.473 deg,	R =   -90.873 deg,
	E1=    16.096 deg
};
P[13:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3228.595  mm,	Y =  -493.460  mm,	Z = -1415.000  mm,
	W =  -179.793 deg,	P =    87.972 deg,	R =   -90.451 deg,
	E1=    16.098 deg
};
P[14:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3228.592  mm,	Y =  -497.699  mm,	Z = -1336.807  mm,
	W =  -179.795 deg,	P =    87.972 deg,	R =   -90.453 deg,
	E1=    16.098 deg
};
P[15:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3228.514  mm,	Y =  -704.370  mm,	Z = -1343.977  mm,
	W =   179.244 deg,	P =    89.405 deg,	R =   -90.876 deg,
	E1=    16.098 deg
};
P[16:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.821  mm,	Y =  -704.000  mm,	Z =  -900.000  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    16.095 deg
};
/END
